def chooseFunction(choix, rs):
if choix == 1:
plotVelocityProfile("Brent", rs)
elif choix == 2:
plotArticularPositions("Brent", rs)
elif choix == 3:
plotXYPositions("Brent", rs)
elif choix == 4:
plotMuscularActivations("Brent", rs)
#------------------------------------------- RBFN
elif choix == 5:
c = Chrono()
# run(name,True)
run(rs)
c.stop()
elif choix == 6:
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateFromRegression(nbret, rs, fname)
c.stop()
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("Regression", rs, nameF)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("Regression", rs, nameF, "All", True) #False)#
else:
plotArticularPositions("Regression", rs, nameF)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotMuscularActivations("Regression", rs, nameF)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotCostColorMap("Regression", rs, nameF)
elif choix == 11:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("Regression", rs, nameF, "All")
elif choix == 12:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("Regression", rs, nameF, "All")
def chooseFunction(choix, rs):
if choix == 1:
plotVelocityProfile("Brent",rs)
elif choix == 2:
plotArticularPositions("Brent",rs)
elif choix == 3:
plotXYPositions("Brent",rs)
elif choix == 4:
plotMuscularActivations("Brent",rs)
#------------------------------------------- RBFN
elif choix == 5:
c = Chrono()
# run(name,True)
run(rs)
c.stop()
elif choix == 6:
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateFromRegression(nbret, rs, fname)
c.stop()
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("Regression",rs, nameF)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("Regression", rs, nameF,"All",True)#False)#
else:
plotArticularPositions("Regression",rs, nameF)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotMuscularActivations("Regression",rs, nameF)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotCostColorMap("Regression", rs, nameF)
elif choix == 11:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("Regression", rs, nameF,"All")
elif choix == 12:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("Regression", rs, nameF,"All")
from Main.MainCMAES import generateFromRegression
from Regression.RunRegression import run
from Plot.plotFunctions import plotXYPositions
from Main.Test import *
from Utils.Chrono import Chrono
from Utils.ReadXmlFile import ReadXmlFile
setupFile = "setupRBFN.xml"
thetaName = "ScriptRBFNxml"
folder = "TrajRBFNxml"
rs = ReadXmlFile(setupFile)
c = Chrono()
run(rs)
c.stop()
generateFromRegression(1, rs, thetaName, folder)
plotXYPositions("Regression", rs, folder, "All", True)
testRegression(rs, thetaName, folder)
def chooseFunction(choix, rs):
if choix == 1:
plotVelocityProfile("Brent",rs)
elif choix == 2:
plotArticularPositions("Brent",rs)
elif choix == 3:
plotXYPositions("Brent",rs)
elif choix == 4:
plotMuscularActivations("Brent",rs)
#------------------------------------------- RBFN
elif choix == 5:
c = Chrono()
# run(name,True)
run(rs)
c.stop()
elif choix == 6:
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateFromRegression(nbret, rs, fname)
c.stop()
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("Regression",rs, nameF)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("Regression", rs, nameF,"All",True)#False)#
else:
plotArticularPositions("Regression",rs, nameF)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotMuscularActivations("Regression",rs, nameF)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotCostColorMap("Regression", rs, nameF)
elif choix == 28:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("Regression", rs, nameF,"All")
elif choix == 29:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("Regression", rs, nameF,"All")
#------------------------------------------- CMAES
elif choix == 11:
rorc = input("enter 1 if from Regression, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
c = Chrono()
launchCMAESForAllTargetSizesMulti(rs)
c.stop()
elif choix == 12:
#TODO: Choose the kinematic model
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAES(nbret, rs, nameTheta, name)
elif choix == 13:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("CMAES",rs,nameF)
elif choix == 14:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("CMAES",rs, nameF,"All",False)
else:
plotArticularPositions("CMAES",rs, nameF)
elif choix == 15:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
plotMuscularActivations("CMAES",rs,nameF,tSize)
elif choix == 16:
nameF = raw_input('Folder where the results are saved: ')
#tSize = raw_input('Target Size: ')
#plotCostColorMap("CMAES",nameF,tSize)
plotCostColorMap("CMAES",rs, nameF)
elif choix == 17:
nameF = raw_input('Folder where the results are saved: ')
plotTimeDistanceTarget(nameF, rs)
elif choix == 18:
nameF = raw_input('Folder where the results are saved: ')
plotPerfSizeDist(nameF, rs)
elif choix == 19:
nameF = raw_input('Folder where the results are saved: ')
plotFittsLaw(nameF, rs)
elif choix == 20:
nameF = raw_input('Folder where the results are saved: ')
plotTimeColorMap("CMAES",rs, nameF)
elif choix == 21:
rorc = input("enter 0 if Brent, 1 if Regression or 2 if CMAES results: ")
rorc = int(rorc)
if rorc == 0:
trajectoriesAnimation("Brent", rs)
elif rorc == 1:
nameF = raw_input('Folder where the results are saved: ')
trajectoriesAnimation("RBFN",rs, nameF)
elif rorc == 2:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
trajectoriesAnimation("CMAES",rs, nameF, tSize)
elif choix == 22:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
#plotHitDispersion(nameF,"0.05")
rorc = int(rorc)
if rorc == 1:
plotScattergram("RBFN",nameF, rs)
elif rorc == 2:
plotScattergram("CMAES",nameF, rs)
elif choix == 23:
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
tSize = raw_input('Target Size: ')
c = Chrono()
launchCMAESForSpecificTargetSize(float(tSize),rs,save)
c.stop()
elif choix == 24:
plotCMAESProgress(rs)
elif choix == 25:
name = raw_input('Name of the Regression controller file: ')
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateRichDataFromRegression(nbret,rs, name, fname)
c.stop()
elif choix == 26:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
c = Chrono()
generateRichDataFromCMAES(nbret,rs, nameTheta, name)
c.stop()
elif choix == 27:
plotTrajsInRepo()
elif choix == 30:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("CMAES",rs,nameF,"All")
elif choix == 31:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("CMAES",rs,nameF,"All")
elif choix == 32:
plotExperimentSetup(rs)
elif choix == 33:
plotManipulability(rs)
elif choix == 34:
plotManipulability2(rs)
elif choix == 35:
plotEstimatorGeneral(rs, 0.005, 0., 0.25)
else :
return 0
return 1
def generateRBFNs():
for i in range(20):
c = Chrono()
run("X"+str(i),True)
c.stop()
def chooseFunction(choix, rs):
if choix == 1:
plotVelocityProfile("Brent", rs)
elif choix == 2:
plotArticularPositions("Brent", rs)
elif choix == 3:
plotXYPositions("Brent", rs)
elif choix == 4:
plotMuscularActivations("Brent", rs)
#------------------------------------------- RBFN
elif choix == 5:
c = Chrono()
# run(name,True)
run(rs)
c.stop()
elif choix == 6:
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateFromRegression(nbret, rs, fname)
c.stop()
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("Regression", rs, nameF)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("Regression", rs, nameF, "All", True) #False)#
else:
plotArticularPositions("Regression", rs, nameF)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotMuscularActivations("Regression", rs, nameF)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotCostColorMap("Regression", rs, nameF)
elif choix == 28:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("Regression", rs, nameF, "All")
elif choix == 29:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("Regression", rs, nameF, "All")
#------------------------------------------- CMAES
elif choix == 11:
rorc = input(
"enter 1 if from Regression, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
c = Chrono()
launchCMAESForAllTargetSizesMulti(rs)
c.stop()
elif choix == 12:
#TODO: Choose the kinematic model
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAES(nbret, rs, nameTheta, name)
elif choix == 13:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("CMAES", rs, nameF)
elif choix == 14:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("CMAES", rs, nameF, "All", False)
else:
plotArticularPositions("CMAES", rs, nameF)
elif choix == 15:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
plotMuscularActivations("CMAES", rs, nameF, tSize)
elif choix == 16:
nameF = raw_input('Folder where the results are saved: ')
#tSize = raw_input('Target Size: ')
#plotCostColorMap("CMAES",nameF,tSize)
plotCostColorMap("CMAES", rs, nameF)
elif choix == 17:
nameF = raw_input('Folder where the results are saved: ')
plotTimeDistanceTarget(nameF, rs)
elif choix == 18:
nameF = raw_input('Folder where the results are saved: ')
plotPerfSizeDist(nameF, rs)
elif choix == 19:
nameF = raw_input('Folder where the results are saved: ')
plotFittsLaw(nameF, rs)
elif choix == 20:
nameF = raw_input('Folder where the results are saved: ')
plotTimeColorMap("CMAES", rs, nameF)
elif choix == 21:
rorc = input(
"enter 0 if Brent, 1 if Regression or 2 if CMAES results: ")
rorc = int(rorc)
if rorc == 0:
trajectoriesAnimation("Brent", rs)
elif rorc == 1:
nameF = raw_input('Folder where the results are saved: ')
trajectoriesAnimation("RBFN", rs, nameF)
elif rorc == 2:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
trajectoriesAnimation("CMAES", rs, nameF, tSize)
elif choix == 22:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
#plotHitDispersion(nameF,"0.05")
rorc = int(rorc)
if rorc == 1:
plotScattergram("RBFN", nameF, rs)
elif rorc == 2:
plotScattergram("CMAES", nameF, rs)
elif choix == 23:
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
tSize = raw_input('Target Size: ')
c = Chrono()
launchCMAESForSpecificTargetSize(float(tSize), rs, save)
c.stop()
elif choix == 24:
plotCMAESProgress(rs)
elif choix == 25:
name = raw_input('Name of the Regression controller file: ')
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateRichDataFromRegression(nbret, rs, name, fname)
c.stop()
elif choix == 26:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
c = Chrono()
generateRichDataFromCMAES(nbret, rs, nameTheta, name)
c.stop()
elif choix == 27:
plotTrajsInRepo()
elif choix == 30:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("CMAES", rs, nameF, "All")
elif choix == 31:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("CMAES", rs, nameF, "All")
elif choix == 32:
plotExperimentSetup(rs)
elif choix == 33:
plotManipulability(rs)
elif choix == 34:
plotManipulability2(rs)
elif choix == 35:
plotEstimatorGeneral(rs, 0.005, 0., 0.25)
else:
return 0
return 1
def generateRBFNs():
for i in range(20):
c = Chrono()
run("X" + str(i), True)
c.stop()
from Main.MainCMAES import generateFromRegression
from Regression.RunRegression import run
from Plot.plotFunctions import plotXYPositions
from Main.Test import *
from Utils.Chrono import Chrono
from Utils.ReadXmlFile import ReadXmlFile
setupFile="setupRBFN.xml"
thetaName="ScriptRBFNxml"
folder="TrajRBFNxml"
rs=ReadXmlFile(setupFile)
c = Chrono()
run(rs)
c.stop()
generateFromRegression(1, rs, thetaName, folder)
plotXYPositions("Regression",rs, folder,"All",True)
testRegression(rs, thetaName, folder)
